US20230043531A1 - Chassis for an autonomous mobile robot - Google Patents

Chassis for an autonomous mobile robot Download PDF

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Publication number
US20230043531A1
US20230043531A1 US17/791,602 US202017791602A US2023043531A1 US 20230043531 A1 US20230043531 A1 US 20230043531A1 US 202017791602 A US202017791602 A US 202017791602A US 2023043531 A1 US2023043531 A1 US 2023043531A1
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US
United States
Prior art keywords
chassis
molded frame
mobile robot
compartments
frame comprises
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
US17/791,602
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English (en)
Inventor
Oliver HAAGAARD
Mikkel BJERGSKOV NIELSEN
Jonathan LINDSKOV NAUNDRUP-JENSEN
Niels JUL JACOBSEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mobile Industrial Robots AS
Original Assignee
Mobile Industrial Robots AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mobile Industrial Robots AS filed Critical Mobile Industrial Robots AS
Assigned to MOBILE INDUSTRIAL ROBOTS A/S reassignment MOBILE INDUSTRIAL ROBOTS A/S ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: NAUNDRUP, JONATHAN LINDSKOV, NIELSEN, MIKKEL BJERGSKOV, Haagaard, Oliver, JACOBSEN, NIELS JUL
Publication of US20230043531A1 publication Critical patent/US20230043531A1/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
    • B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D29/00—Superstructures, understructures, or sub-units thereof, characterised by the material thereof
    • B62D29/04—Superstructures, understructures, or sub-units thereof, characterised by the material thereof predominantly of synthetic material
    • B62D29/041—Understructures

Definitions

  • the present invention relates to a wheeled mobile robot configurable for different applications including transportation of goods loaded on top of the mobile robot, cart pulling or automated hauling of materials indoors. More specifically the present invention relates to chassis of an autonomous mobile robot for industrial transport applications.
  • AMR autonomous mobile robots
  • the chassis comprises a support frame, one or several drive wheels, and one or several supporting wheels attached to the chassis.
  • Electrical and electronic equipment (EEE) parts of a mobile robot are typically attached to the chassis and may comprise a battery, a charger equipment, a communication equipment, sensors, light indicators and control equipment for navigation and safety purposes.
  • a housing covers most of its components including EEE parts.
  • Means for carrying a payload and/or means for hauling a cart and/or means manipulating items can be attached to the AMR and are usually located outside the housing and supported by the chassis.
  • the transport AMR must be compact and be able to carry relatively heavy loads and/or additional modules during many hours of operation on hard surface. Further the mobile robots must be suitable for industrial mass production.
  • EEE which can develop heat, e.g. power boards, is mounted in a way allowing heat to be led away from the individual EEE without overheating other EEE parts.
  • the compartments for EEE must be easy to access for maintenance and/or exchange of the EEE devices, preferably without removing equipment and/or payload on top of the mobile robot and preferably without having to lifting the AMR or to turning it upside down.
  • chassis In order to ensure a precise and stable location and a reliable performance of navigation and safety sensors, it is important that the chassis is manufactured with precise dimensions and that the chassis is stable and rigid even under heavy loads and while moving over uneven surfaces.
  • a mobile robot is disclosed in a U.S. patent application Ser. No. 10/433,434 (publication No. US20040093650).
  • the application discloses a mobile robot system for performing a plurality of separate operations comprising at least one autonomous wheeled mobile robot having at least one wheel-driving motor, an on-board computer; means for navigation, orientation, and manoeuvring in an environment with moving obstacles; a sensor system; and a wireless communication system for receiving and sending signals.
  • the mobile robot system is useful for hauling materials on a variety of carts or wagons using a coupling hitch hook bar as cart attaching mechanism.
  • FIG. 201710476078.4 Publication No. CN107235092
  • the frame of the chassis is assembled from plate elements delimiting and covering space for EEE components.
  • US 2012/023887 describes a robotic mower housing that includes a one piece molded bottom chassis having an inner wall and an outer wall.
  • a top cover is removably attached to and covers the bottom chassis.
  • An outer seal is provided between the outer wall of the bottom chassis and the top cover, and an inner seal between the inner wall of the bottom chassis and the top cover.
  • the object of the present invention is to overcome at least the above mentioned disadvantages of prior AMR constructions and bring additional advantages as described in the detailed description of the invention.
  • the present invention overcomes the shortcomings of prior art by providing an improved chassis for an AMR, where the chassis comprises a moulded frame, which is comprising a central compartment defined by a bottom part and at least two vertical sidewalls.
  • the bottom part of the moulded frame is adapted to be supported by drive wheels and support wheels.
  • the moulded frame further comprises horizontal shelfs protruding from the outside of the side walls at a level below the top of the sidewalls. Further the moulded frame comprises support elements protruding from the outside of the corners of the central compartment.
  • the chassis further comprises a horizontal top cover attached to the top of the side walls of the moulded.
  • the top cover is improving the rigidity of the chassis and is covering the EEE within the central compartment of the frame as well as the space above the shelfs.
  • EEE compartments are accessible from the sides and ends of the mobile robot by removing detachable cover parts.
  • the EEE components are well protected against physical impact and easy to check and exchange for maintenance.
  • the chassis for an autonomous mobile robot comprising a frame is a moulded frame 1 and comprises a central compartment 2 defined by two side walls 4 . 1 , 4 . 2 and bottom parts 6 . 1 , 6 . 2 , 3 . 1 , 3 . 2 ; outer side shelfs 7 . 1 , 7 . 2 extending from outer sides of the two side walls 4 . 1 , 4 . 2 at a level between bottom and top of the central compartment 2 ; a detachable top cover 10 mounted on top of the moulded frame 1 ) so that edges of the top cover 10 are substantially defining the outer periphery of the chassis.
  • the moulded frame 1 further comprises inner corner supports 15 . 1 , 15 . 2 , 15 . 3 , 15 . 4 consisting of reinforced or thicker parts of the side walls 4 . 1 , 4 . 2 .
  • the moulded frame 1 further comprises an end wall 5 .
  • the moulded frame 1 further comprises inner end shelf 7 . 3 and an outer end shelf 7 . 4 .
  • the moulded frame 1 further comprises two arc compartments 3 . 1 , 3 . 2 ) for drive motors M′, M′′ arcing into central compartment 2 and rigidly interconnecting by a wall 13 .
  • the outer side shelfs 7 . 1 , 7 . 2 are at a level above top part of the arc compartments 3 . 1 , 3 . 2 .
  • the moulded frame 1 further comprises bottom supporting elevations 14 . 1 , 14 . 2 for support of a battery shelf 7 . 5 .
  • the moulded frame 1 further comprises two first end arc compartments 8 . 1 , 8 . 2 for first two support wheels and two second end arc compartments 8 . 3 , 8 . 4 for second two support wheels at the bottom corners of the moulded frame.
  • the outer side shelfs 7 . 1 , 7 . 2 comprises supports 17 . 1 , 17 . 2 , 17 . 3 extending into the shelfs 7 . 1 , 7 . 2 .
  • the side shelfs 7 . 1 , 7 . 2 , end shelfs 7 . 3 , 7 . 4 and the battery shelf 7 . 5 are covered with detachable covers 20 . 1 , 20 . 2 , 20 . 3 , 20 . 4 , 10 .
  • the chassis further comprises means 11 . 1 , 11 . 2 for attaching drive means 12 . 1 , 12 . 2 to the bottom of the chassis' frame 1 .
  • the moulded frame 1 is made of aluminium.
  • the moulded frame 1 is made of plastic.
  • the moulded frame 1 is configured for direct attachment of EEE components to the moulded frame 1 .
  • the moulded frame 1 comprises supports 9 . 1 , 9 . 2 protruding from the outside of the corners of the central compartment 2 for supporting navigation and/or safety sensors.
  • the moulded frame 1 comprises docking elements 23 . 1 , 23 . 2 protruding to an end of the of the autonomous mobile robots, where the docking elements are adapted to be interconnected with a stationary docking station in order to ensure a precise docking.
  • FIG. 1 - 3 show different views of the moulded frame according to one embodiment of the invention.
  • FIG. 4 shows an isometric view of chassis with mounted top cover according to one embodiment of the invention.
  • FIG. 5 shows an isometric view of chassis with mounted side bumpers and a battery shelf according to one embodiment of the invention.
  • FIG. 6 shows an isometric view of chassis with mounted side and end covers according to one embodiment of the invention.
  • FIG. 7 shows an isometric view of chassis with mounted side, end and top covers according to one embodiment of the invention.
  • FIG. 8 shows an isometric view of chassis underside with drive means mounted thereto according to one embodiment of the invention.
  • an autonomous mobile robot chassis comprises a moulded frame 1 comprising a central compartment 2 defined by bottom members 6 . 1 , 6 . 2 , 3 . 1 , 3 . 2 , two side walls 4 . 1 , 4 . 2 and an end wall 5 ; outer side shelfs 7 . 1 , 7 . 2 extending between the outer sides of the two side walls 4 . 1 , 4 . 2 and the periphery of the chassis at a level below the top edge 4 . 11 , 4 . 12 of side walls 4 . 1 , 4 . 2 ; end shelfs 7 . 3 , 7 . 4 ; battery shelf 7 . 5 ; supports 9 . 1 , 9 .
  • the sidewalls 4 . 1 , 4 . 2 comprise reinforced/thicker parts at the corners of the central departments thereby providing corner supports 15 . 1 , 15 . 2 , 15 . 3 , 15 . 4 for supporting a top cover 10 detachably mountable on top of the moulded frame 1 .
  • a top cover 10 can be secured to the moulded frame 1 via corner supports 15 . 1 , 15 . 2 , 15 . 3 , 15 . 4 using bolts or other suitable fastening means.
  • the moulded frame comprises docking elements 23 . 1 , 23 . 2 protruding to an end of the AMR.
  • the docking elements 23 . 1 , 23 . 2 are designed to fit with (not shown) counter parts of a (not shown) stationary docking station in order to ensure a precise docking of the AMR.
  • the docking elements 23 . 1 , 23 . 2 , and/or its (not shown) stationary counter parts can be equipped with locking elements in order to ensure a precise and reliable position of the AMR during the docking, while per example loading or unloading the AMR or while a manipulator attached to the AMR is performing a precise operation.
  • a set of bumper plates 18 . 1 , 18 . 2 , 18 . 3 , 18 . 4 are provided with bumper elements 19 . 1 , 19 . 2 , 19 . 3 , 19 . 4 for absorbing impact energy.
  • EEE parts 22 . 1 , 22 . 2 and 22 . 3 are mounted on side shelf 7 . 1 and side shelf 7 . 2 , respectively.
  • the top cover 10 may for example be a detachably attached plate, hood or a module.
  • the top cover 10 in the form of a plate is preferably made of steel or other material having similar mechanical properties.
  • the top plate 10 is designed to withstand high deformation forces along its entire surface.
  • the top module may be, but is not limited to an attaching mechanism for coupling the mobile robot to a cart or a wheeled inventory holder; a manipulator such as a robotic arm; a lifting mechanism, such as a pallet lifter; a conveyor for loading and/or unloading items.
  • the moulded frame 1 of the example embodiment comprises first end arc compartments 8 . 1 , 8 . 2 for accommodating first end support wheels SV′, SV′′ and second end arc compartments 8 . 3 , 8 . 4 for accommodating second end support wheels SV′′′, SV′′′′.
  • the moulded frame 1 according to the example embodiment comprises means 11 . 1 , 11 . 2 for attaching drive means 12 . 1 , 12 . 2 to the bottom of the chassis' frame 1 .
  • the bottom part in the example embodiment of the moulded frame comprises two arc compartments 3 . 1 , 3 . 2 arcing into a central compartment 2 for motors M′, M′′, where the bottom parts 6 . 1 , 6 . 2 are extending from the arc compartments 3 . 1 , 3 . 2 to a first and a second end of the central compartment 2 , respectively.
  • the outer side shelfs 7 . 1 , 7 . 2 in the illustrated embodiment extend between the outer sides of the two side walls 4 . 1 , 4 . 2 and the periphery of the chassis and at a level above top part of the arc compartments 3 . 1 , 3 . 2 .
  • the side shelf may be a shorter protrusion, which contributes to the rigidity of the moulded frame 1 , and still provides a support for EEE.
  • the means for attaching drive means are in the illustrated example embodiment openings 11 . 1 , 11 . 2 for accommodating swivel shafts of each side drives 12 . 1 , 12 . 2 .
  • the swivel shaft is in this example common to both side drives 12 . 1 , 12 . 2 and extends from one sidewall opening 11 . 1 to the other sidewall opening 11 . 2 through the central compartment 2 of the moulded frame 1 , between the end wall 5 and two arc compartments 3 . 1 , 3 . 2 for motors M′, M′′.
  • the side drives comprise a support wheel S and a drive wheel DV mounted on a common support body SB, and a swivel shaft support chamber to pass the swivel shaft through it. It further comprises an electric motor M and a gearbox. All are mounted on the common support body SB.
  • the side shelfs 7 . 1 , 7 . 2 and end shelfs 7 . 3 , 7 . 4 are accessible from the sides and ends, respectively by removing detachable cover parts 20 . 1 , 20 . 2 , 20 . 3 , 20 . 4 .
  • the battery shelf 7 . 5 being located in the central compartment 2 is resting on at least parts of the shelf supports 14 . 1 , 14 . 2 , 14 . 3 , 14 . 4 and is accessible from one end of the central compartment 2 .
  • the battery rests on the central horizontal part of the battery shelf 7 . 5 and fits between vertical parts of the edges of the battery shelf 7 . 5 .
  • the EEE components are well protected against physical impact and easy to check and exchange for maintenance.
  • the moulded frame 1 is preferably made of aluminium or similar material per example plastic ensuring light weight, durability and rigidity of the frame.
  • the material is preferably a casting material.
  • various EEE components are attached directly to the moulded frame 1 in a way that leads any access heat away from the EEE.
  • various EEE components as per example power boards and/or motor controllers are attached via intermediate connecting elements, as per example heat leading pasta, to the moulded frame 1 in a way that leads any access heat away from the EEE.
  • the frame 1 of the example embodiment comprises corner supports 15 . 1 , 15 . 2 , 15 . 3 , 15 . 4 . which are extending from first end arc compartments 8 . 1 , 8 . 2 for accommodating first end support wheels SV′, SV′ and from second end arc compartments 8 . 3 , 8 . 4 for accommodating second end support wheels SV′′′, SV′′′′ up to top edge 4 . 11 , 4 . 12 of side walls 4 . 1 , 4 . 2 and top edge 5 . 1 of end wall 5 .
  • the corner supports 15 . 1 , 15 . 2 , 15 . 3 , 15 . 4 increases frame 1 resistance to downwards deformation forces as well as increases rigidity of protruding proximity sensors' supports 9 . 1 , 9 . 2 which protrudes from opposing corners of the frame 1 .
  • the end wall 5 extends from bottom part 6 . 2 and between two corner supports 15 . 1 , 15 . 2 of one end and up to the top edge 5 . 1 of the corner supports 15 . 1 , 15 . 2 , and thereby further is improving structural stability and rigidity of the frame 1 .
  • the side walls 4 . 1 , 4 . 2 each extend from bottom parts 6 . 1 , 6 . 2 , 3 . 1 , 3 . 2 between respective corner supports 15 . 1 , 15 . 2 , 15 . 3 , 15 . 4 and up to the top edges 4 . 11 , 4 . 12 of the respective corner supports 15 . 1 , 15 . 2 , 15 . 3 , 15 . 4 .
  • the side walls contribute to structural stability and rigidity of the frame 1 and provide a large central compartment 2 for containing EEE elements as per example a battery.
  • the concave compartments 3 . 1 , 3 . 2 are allowing the drive wheel motors M′, M′′ to substantially protrude into the inner space of the moulded frame 1 , thus lowering the centre of weight of the chassis.
  • the concave compartments 3 . 1 , 3 . 2 further improve structural stability and rigidity by interconnecting at a common wall 13 and forming a support between the sidewalls 4 . 1 , 4 . 2 .
  • the outer side shelfs 7 . 1 , 7 . 2 comprises supports 17 . 1 , 17 . 2 , 17 . 3 extending into the shelfs 7 . 1 , 7 . 2 .
  • one end shelf 7 . 3 delimits the central compartment 2 and is a bottom part of the central compartment 2
  • another end shelf 7 . 4 extend from the end wall 5 to the periphery of the chassis.
  • the top cover 10 is substantially covering the central compartment 2 as well as the space above the side and end shelfs 7 . 1 , 7 . 2 , 7 . 3 , 7 . 4 .
  • the frame 1 further comprises supporting elevations 14 . 1 , 14 . 2 for supporting the battery shelf 7 . 5 from underneath.
  • the supporting elevations 14 . 1 , 14 . 2 are for example protruding from tops of both two arc compartments 3 . 1 , 3 . 2 for motors M′, M′′.
  • the side covers 20 . 1 , 20 . 2 and end covers 20 . 3 , 20 . 4 are provided with a longitudinal gap 21 . 1 , 21 . 2 , 21 . 3 , 21 . 4 for the proximity sensor 22 , 23 view field.
  • Each of the longitudinal gaps 21 . 1 , 21 . 3 on both sides are arranged in the same way.
  • Each of the longitudinal gaps 21 . 2 , 21 . 4 on both ends are arranged in the same way.
  • the proximity sensors 22 , 23 have a view field of 270 degrees each along the longitudinal gaps 21 . 1 , 21 . 2 , 21 . 3 , 21 . 4 .
  • the proximity sensors' supports 9 . 1 , 9 . 2 at opposing corners of the chassis frame 1 are such that ensure rigid and accurate mounting of proximity sensors such as 270 degree of observation ultrasonic safety scanners. Further the proximity sensors' supports 9 . 1 , 9 . 2 are mounted at each of the supports 9 . 1 , 9 . 2 so that would have at least 270-degree unobstructed field of visibility.
  • the moulded frame 1 forms a single moulded body.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
US17/791,602 2020-01-09 2020-12-28 Chassis for an autonomous mobile robot Pending US20230043531A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP20151039.3A EP3848274B1 (de) 2020-01-09 2020-01-09 Fahrgestell für einen autonomen mobilen roboter
EP20151039.3 2020-01-09
PCT/EP2020/087923 WO2021140039A1 (en) 2020-01-09 2020-12-28 Chassis for an autonomous mobile robot

Publications (1)

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US20230043531A1 true US20230043531A1 (en) 2023-02-09

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US17/791,602 Pending US20230043531A1 (en) 2020-01-09 2020-12-28 Chassis for an autonomous mobile robot

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US (1) US20230043531A1 (de)
EP (1) EP3848274B1 (de)
CN (1) CN114901544A (de)
WO (1) WO2021140039A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220363329A1 (en) * 2019-10-01 2022-11-17 Mobile Industrial Robots A/S Mobile robot with adjustable traction weights

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US20190092247A1 (en) * 2016-03-31 2019-03-28 Volvo Truck Corporation Modular rail and accessory system
US20220171402A1 (en) * 2019-03-28 2022-06-02 Honda Motor Co., Ltd. Autonomous travel working machine and charging station

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US20190092247A1 (en) * 2016-03-31 2019-03-28 Volvo Truck Corporation Modular rail and accessory system
US20220171402A1 (en) * 2019-03-28 2022-06-02 Honda Motor Co., Ltd. Autonomous travel working machine and charging station

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220363329A1 (en) * 2019-10-01 2022-11-17 Mobile Industrial Robots A/S Mobile robot with adjustable traction weights

Also Published As

Publication number Publication date
EP3848274A1 (de) 2021-07-14
CN114901544A (zh) 2022-08-12
WO2021140039A1 (en) 2021-07-15
EP3848274C0 (de) 2023-07-19
EP3848274B1 (de) 2023-07-19

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